PLC and Robot Handshaking demonstration

This is an ABB robot demonstration to show the industrial handshake between a robot and an Allen Bradley PLC. This demonstration aims to highlight how a PLC controls the robot's activities. The PLC is the master while the robot is the slave. The Robot gets service requests from the PLC, moves in to perform the request and updates the PLC on its status, consequently, the PLC gives the task request instruction, prompting the PLC to accomplish the task and returns feedback after the execution.
I used the integers 10 and 11 to illustrate the service request and used boolean bit data exchange for the task request.
Please feel free to comment and ask questions for any clarification below.
Thanks

[@ChimeremezeJoshua]

This is an interesting demonstration.
With this demo, is it right if I say that the measurements of the workpiece is already calculated and downloaded to the program such that the robot knows where to go for a side bore and top bore..
Or does the robot/ plc have a way of monitoring real time the shape and measurements of the workpiece.